opt: 优化定时任务创建堆垛机出库指令

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

@@ -416,9 +416,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             HashMap map = new HashMap();
             switch (command) {
                 case 0:
-                    if (task == 0) {
                     applyTask();
-                    }
                     requireSucess = true;
                     break;
                 case 1:
@@ -568,7 +566,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             //输入:指令类型多种\ 指令状态多种\
             Instruction instruction1 = new Instruction();
             instruction1.setInstruction_status("0");
-            List<Instruction> instructions = instructionService.findByDeviceCodes(instruction1);
+            List<Instruction> instructions = instructionService.findByDeviceCodes(instruction1, false);
             if (CollUtil.isEmpty(instructions) || instructions.size() < 1) {
                 return false;
             }
@@ -637,14 +635,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                     }
                 }
                 if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) {
-                    map.put("to_z", inst.getFrom_z());
+                    map.put("to_y", inst.getFrom_z());
                     if (inst.getFrom_x().length() > 1) {
                         String substring = inst.getFrom_x().substring(1);
-                        map.put("to_x", substring);
+                        map.put("to_z", substring);
                     } else {
-                        map.put("to_x", inst.getFrom_x());
+                        map.put("to_z", inst.getFrom_x());
                     }
-                    map.put("to_y", inst.getFrom_y());
+                    map.put("to_x", inst.getFrom_y());
                 }
 
                 this.writing(map);

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

@@ -321,5 +321,5 @@ public interface InstructionService extends CommonService<InstructionMybatis>  {
      * @param instruction1
      * @return
      */
-    List<Instruction> findByDeviceCodes(Instruction instruction1);
+    List<Instruction> findByDeviceCodes(Instruction instruction1,Boolean flay);
 }

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

@@ -1569,12 +1569,16 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     }
 
     @Override
-    public List<Instruction> findByDeviceCodes(Instruction instruction1) {
+    public List<Instruction> findByDeviceCodes(Instruction instruction1, Boolean flay) {
         if (ObjectUtil.isNull(instruction1)) {
             return null;
         }
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
+        if (flay) {
+            wrapper.le(StrUtil.isNotBlank(instruction1.getInstruction_status()), InstructionMybatis::getInstruction_status, instruction1.getInstruction_status());
+        } else {
             wrapper.eq(StrUtil.isNotBlank(instruction1.getInstruction_status()), InstructionMybatis::getInstruction_status, instruction1.getInstruction_status());
+        }
         wrapper.eq(StrUtil.isNotBlank(instruction1.getStart_device_code()), InstructionMybatis::getStart_device_code, instruction1.getStart_device_code());
         wrapper.eq(StrUtil.isNotBlank(instruction1.getNext_device_code()), InstructionMybatis::getNext_device_code, instruction1.getNext_device_code());
         List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(wrapper);

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/route/service/RouteLineService.java

@@ -225,5 +225,10 @@ public interface RouteLineService extends CommonService<RouteLine>  {
 
     public JSONArray getActivePathLine(String device_code, String next_device_code, String plan_code);
 
-    List<RouteLineDto> selectDeviceCodeList(String start_device_code);
+    /**
+     * 根据设备编码查询路由
+     * @param device_code
+     * @return
+     */
+    List<RouteLineDto> selectDeviceCodeList(String device_code);
 }

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

@@ -254,6 +254,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     /**
      * 获取未完成任务
+     *
      * @throws Exception
      */
     @Override
@@ -664,9 +665,18 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         Device nextdevice = appService.findDeviceByCode(next_device_code);
         Device startdevice = appService.findDeviceByCode(start_device_code);
         dto.setMaterial(startdevice.getMaterial_type());
+        if (StrUtil.equals(DeviceType.storage.toString(), startDeviceType)) {
+            start_point_code = start_device_code + "-" + dto.getFrom_y() + "-" + dto.getFrom_z();
+            dto.setStart_point_code(start_point_code);
+        }
+        if (StrUtil.equals(DeviceType.storage.toString(), nextDeviceType)) {
+            next_point_code = next_device_code + "-" + dto.getTo_y() + "-" + dto.getTo_z();
+            dto.setNext_point_code(next_point_code);
+        }
         if (StrUtil.equals(createTaskCheck, "1")) {
             // 判断起点为输送设备
             if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
+
             }
 
             if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
@@ -1527,8 +1537,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
                     task.setStart_point_code(start_point_code + "-" + from_y + "-" + from_z);
                     task.setStart_device_code(start_point_code);
                 }
-            }
+            } else {
-            else {
                 task.setStart_device_code(start_point_code);
                 task.setStart_device_code(start_point_code);
             }

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

@@ -1,10 +1,19 @@
 package org.nl.system.service.quartz.task;
 
+import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.domain.DeviceExtra;
+import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.device.service.DeviceExtraService;
+import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
+import org.nl.acs.device_driver.basedriver.belt_conveyor.BeltConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_stacker.StandardStackerDeviceDriver;
 import org.nl.acs.instruction.enums.InstructionStatusEnum;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.domain.Instruction;
@@ -12,13 +21,17 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
+import org.nl.acs.task.domain.Task;
 import org.nl.acs.task.enums.TaskStatusEnum;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.common.exception.BadRequestException;
 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;
 
 /**

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

@@ -0,0 +1,352 @@
+package org.nl.system.service.quartz.task;
+
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.domain.DeviceExtra;
+import org.nl.acs.device.enums.DeviceType;
+import org.nl.acs.device.service.DeviceExtraService;
+import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
+import org.nl.acs.device_driver.basedriver.belt_conveyor.BeltConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_stacker.StandardStackerDeviceDriver;
+import org.nl.acs.instruction.domain.Instruction;
+import org.nl.acs.instruction.enums.InstructionStatusEnum;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.route.service.dto.RouteLineDto;
+import org.nl.acs.task.enums.TaskStatusEnum;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.common.exception.BadRequestException;
+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;
+
+@Slf4j
+@Component
+public class CreateDDJInst {
+
+
+    /**
+     * 定时查询堆垛机任务
+     */
+    public void run() {
+        TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
+        InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+        RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
+        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+        DeviceExtraService deviceExtra = SpringContextHolder.getBean(DeviceExtraServiceImpl.class);
+        List<TaskDto> taskDtos = taskserver.queryByStauts("0");
+        List<TaskDto> taskDtoList = new ArrayList<>();
+        if (CollUtil.isEmpty(taskDtos) || taskDtos.size() < 1) {
+        } else {
+            for (TaskDto taskDto : taskDtos) {
+                String start_device_code = taskDto.getStart_device_code();
+                Device startDevice = appService.findDeviceByCode(start_device_code);
+                String next_device_code = taskDto.getNext_device_code();
+                Device nextDevice = appService.findDeviceByCode(next_device_code);
+                if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
+                        (nextDevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextDevice.getDevice_type().equals(DeviceType.storage.name()))) {
+                    taskDtoList.add(taskDto);
+                }
+            }
+            if (CollUtil.isNotEmpty(taskDtoList)) {
+                taskDtoList = sortInst(taskDtoList);
+                for (TaskDto taskDto : taskDtoList) {
+                    List<RouteLineDto> list =
+                            routeLineService.getShortPathLines(
+                                    taskDto.getStart_device_code(), taskDto.getNext_device_code(), taskDto.getRoute_plan_code());
+                    if (ObjectUtils.isEmpty(list)) {
+                        throw new BadRequestException("路由不通");
+                    }
+                    RouteLineDto routeLineDto = (RouteLineDto) list.get(0);
+                    String[] path = routeLineDto.getPath().split("->");
+                    List<String> pathlist = Arrays.asList(path);
+                    if (pathlist.size() < 3 || pathlist.get(1).equals(DeviceType.stacker.name())) {
+                        return;
+                    }
+                    Device deviceByCode = appService.findDeviceByCode(pathlist.get(1));
+                    if (ObjectUtils.isEmpty(deviceByCode)) {
+                        log.error("没有找到DDJ设备");
+                        return;
+                    }
+                    StandardStackerDeviceDriver standardStackerDeviceDriver;
+                    if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
+                        standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver();
+                        if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getMove() == 1 || standardStackerDeviceDriver.getCommand() != 0) {
+                            log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code());
+                            return;
+                        }
+                    }
+                    String next_device_code = taskDto.getNext_device_code();
+                    Device nextDevice = appService.findDeviceByCode(next_device_code);
+                    BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+                    if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                        beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+                        if (beltConveyorDeviceDriver.getMode() != 2 || beltConveyorDeviceDriver.getMove() == 1) {
+                            log.error("输送机,{}未联机或执行中", next_device_code);
+                            return;
+                        }
+                    }
+                    String taskid = taskDto.getTask_id();
+                    String taskcode = taskDto.getTask_code();
+                    String task_type = taskDto.getTask_type();
+                    String vehiclecode = taskDto.getVehicle_code();
+                    String storage_task_type = taskDto.getStorage_task_type();
+                    String priority = taskDto.getPriority();
+                    String is_send = taskDto.getIs_send();
+
+                    String start_device_code = taskDto.getStart_device_code();
+                    Device startDevice = appService.findDeviceByCode(start_device_code);
+                    String start_point_code = taskDto.getStart_point_code();
+
+                    String put_device_code = taskDto.getPut_device_code();
+                    String put_point_code = taskDto.getPut_point_code();
+
+                    String next_point_code = taskDto.getNext_point_code();
+
+                    String start_point_code2 = taskDto.getStart_point_code2();
+                    String start_device_code2 = taskDto.getStart_device_code2();
+
+                    String next_point_code2 = taskDto.getNext_point_code2();
+                    String next_device_code2 = taskDto.getNext_device_code2();
+
+                    String route_plan_code = taskDto.getRoute_plan_code();
+                    String vehicleType = taskDto.getVehicle_type();
+                    String agv_system_type = taskDto.getAgv_system_type();
+
+                    String start_height = taskDto.getStart_height();
+                    String next_height = taskDto.getNext_height();
+                    //单台堆垛机最多只能创建固定数量指令
+                    Instruction instruction = new Instruction();
+                    instruction.setInstruction_status("1");
+                    List<Instruction> byDeviceCodes = instructionService.findByDeviceCodes(instruction, true);
+                    Instruction instdto = new Instruction();
+                    if (CollUtil.isEmpty(byDeviceCodes)) {
+                        instdto.setInstruction_type(task_type);
+                        instdto.setInstruction_id(IdUtil.simpleUUID());
+                        instdto.setRoute_plan_code(route_plan_code);
+                        instdto.setRemark(taskDto.getRemark());
+                        instdto.setMaterial(taskDto.getMaterial());
+                        instdto.setQuantity(taskDto.getQuantity());
+                        instdto.setTask_id(taskid);
+                        instdto.setTask_code(taskcode);
+                        instdto.setVehicle_code(vehiclecode);
+                        String now = DateUtil.now();
+                        instdto.setCreate_time(now);
+                        instdto.setCreate_by("auto");
+
+                        instdto.setStart_device_code(start_device_code);
+                        instdto.setStart_point_code(start_point_code);
+                        instdto.setPut_device_code(put_device_code);
+                        instdto.setPut_point_code(put_point_code);
+                        instdto.setNext_device_code(next_device_code);
+                        instdto.setNext_point_code(next_point_code);
+
+                        instdto.setStart_point_code2(start_point_code2);
+                        instdto.setStart_device_code2(start_device_code2);
+                        instdto.setNext_point_code2(next_point_code2);
+                        instdto.setNext_device_code2(next_device_code2);
+
+                        instdto.setPriority(priority);
+                        instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
+                        instdto.setExecute_device_code(start_point_code);
+                        instdto.setVehicle_type(vehicleType);
+                        instdto.setAgv_system_type(agv_system_type);
+                        instdto.setStart_height(start_height);
+                        instdto.setNext_height(next_height);
+                        if (startDevice.getDevice_type().equals(DeviceType.storage.name())) {
+                            instdto.setFrom_x(taskDto.getFrom_x());
+                            instdto.setFrom_z(taskDto.getFrom_z());
+                            instdto.setFrom_y(taskDto.getFrom_y());
+                        }
+                        if (nextDevice.getDevice_type().equals(DeviceType.storage.name())) {
+                            instdto.setTo_x(taskDto.getTo_x());
+                            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, "1")) {
+                            // 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, "1")) {
+                                instdto.setAgv_inst_type("1");
+                            } 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) {
+                            taskDto.setRemark(e.getMessage());
+                            taskserver.updateByCodeFromCache(taskDto);
+                        }
+                        //创建指令后修改任务状态
+                        taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+                        taskserver.update(taskDto);
+                    } else {
+                        List<Instruction> insts = new ArrayList<>();
+                        for (Instruction byDeviceCode : byDeviceCodes) {
+                            String nextDeviceCode = byDeviceCode.getNext_device_code();
+                            Device nextdevice = appService.findDeviceByCode(nextDeviceCode);
+                            if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
+                                    (nextdevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextdevice.getDevice_type().equals(DeviceType.storage.name()))) {
+                                insts.add(byDeviceCode);
+                            }
+                        }
+                        int max = 0;
+                        for (Instruction inst : insts) {
+                            List<RouteLineDto> shortPathLines = routeLineService.getShortPathLines(inst.getStart_device_code(), inst.getNext_device_code(),
+                                    inst.getRoute_plan_code());
+                            if (CollUtil.isEmpty(shortPathLines) || shortPathLines.size() < 1) {
+                                log.error("没有此路由");
+                                throw new BadRequestException("路由不通");
+                            }
+                            RouteLineDto routeLineDto1 = (RouteLineDto) shortPathLines.get(0);
+                            String[] path1 = routeLineDto1.getPath().split("->");
+                            List<String> pathlist1 = Arrays.asList(path1);
+                            if (pathlist1.size() < 3 || pathlist1.get(1).equals(DeviceType.stacker.name())) {
+                                return;
+                            }
+                            if (pathlist1.get(1).equals(pathlist.get(1))) {
+                                max++;
+                            }
+                        }
+                        List<DeviceExtra> deviceExtras = deviceExtra.list(Wrappers.lambdaQuery(DeviceExtra.class).
+                                eq(DeviceExtra::getDevice_code, pathlist.get(1)).orderByDesc(DeviceExtra::getCreate_time));
+                        for (DeviceExtra extra : deviceExtras) {
+                            if (extra.getExtra_code().equals("count")) {
+                                if (max <= Integer.parseInt(extra.getExtra_value())) {
+                                    instdto.setInstruction_type(task_type);
+                                    instdto.setInstruction_id(IdUtil.simpleUUID());
+                                    instdto.setRoute_plan_code(route_plan_code);
+                                    instdto.setRemark(taskDto.getRemark());
+                                    instdto.setMaterial(taskDto.getMaterial());
+                                    instdto.setQuantity(taskDto.getQuantity());
+                                    instdto.setTask_id(taskid);
+                                    instdto.setTask_code(taskcode);
+                                    instdto.setVehicle_code(vehiclecode);
+                                    String now = DateUtil.now();
+                                    instdto.setCreate_time(now);
+                                    instdto.setCreate_by("auto");
+
+                                    instdto.setStart_device_code(start_device_code);
+                                    instdto.setStart_point_code(start_point_code);
+                                    instdto.setPut_device_code(put_device_code);
+                                    instdto.setPut_point_code(put_point_code);
+                                    instdto.setNext_device_code(next_device_code);
+                                    instdto.setNext_point_code(next_point_code);
+
+                                    instdto.setStart_point_code2(start_point_code2);
+                                    instdto.setStart_device_code2(start_device_code2);
+                                    instdto.setNext_point_code2(next_point_code2);
+                                    instdto.setNext_device_code2(next_device_code2);
+
+                                    instdto.setPriority(priority);
+                                    instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
+                                    instdto.setExecute_device_code(start_point_code);
+                                    instdto.setVehicle_type(vehicleType);
+                                    instdto.setAgv_system_type(agv_system_type);
+                                    instdto.setStart_height(start_height);
+                                    instdto.setNext_height(next_height);
+                                    if (startDevice.getDevice_type().equals(DeviceType.storage.name())) {
+                                        instdto.setFrom_x(taskDto.getFrom_x());
+                                        instdto.setFrom_z(taskDto.getFrom_z());
+                                        instdto.setFrom_y(taskDto.getFrom_y());
+                                    }
+                                    if (nextDevice.getDevice_type().equals(DeviceType.storage.name())) {
+                                        instdto.setTo_x(taskDto.getTo_x());
+                                        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, "1")) {
+                                        // 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, "1")) {
+                                            instdto.setAgv_inst_type("1");
+                                        } 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) {
+                                        taskDto.setRemark(e.getMessage());
+                                        taskserver.updateByCodeFromCache(taskDto);
+                                    }
+                                    //创建指令后修改任务状态
+                                    taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+                                    taskserver.update(taskDto);
+                                    continue;
+                                }
+                            }
+                        }
+
+                    }
+                }
+            }
+            //单台堆垛机只能出四五
+        }
+    }
+
+    private List<TaskDto> sortInst(List<TaskDto> taskDtos) {
+        Collections.sort(taskDtos, (t1, t2) -> {
+            //优先级从大到小
+            int i = t2.getPriority().compareTo(t1.getPriority());
+            //如果优先级相等
+            if (i == 0) {
+                //时间从早到晚
+                i = t1.getCreate_time().compareTo(t2.getCreate_time());
+            }
+            return i;
+        });
+        return taskDtos;
+    }
+
+}

acs/nladmin-ui/src/views/acs/device/driver/standard_stacker.vue

@@ -96,6 +96,11 @@
               </el-select>
             </el-form-item>
           </el-col>
+          <el-col :span="12">
+            <el-form-item label="指令上限：" label-width="150px" prop="count">
+              <el-input v-model.number="form.count" />
+            </el-form-item>
+          </el-col>
         </el-row>
       </el-form>
     </el-card>