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

@@ -394,19 +394,19 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         } else if (error != 0) {
             message = "有报警";
             //指定库位满入
-            if(error == 5){
+            if (error == 5) {
 
             }
             //空出
-            if(error == 6){
+            if (error == 6) {
 
             }
             //浅货位有货
-            if(error == 16){
+            if (error == 16) {
                 //放货
-                if(cargoMove==1){
+                if (cargoMove == 1) {
 
-                }else if(cargoMove==0){
+                } else if (cargoMove == 0) {
                     //取货
                 }
 
@@ -416,9 +416,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             HashMap map = new HashMap();
             switch (command) {
                 case 0:
-                    if (task == 0) {
+                    applyTask();
-                        applyTask();
-                    }
                     requireSucess = true;
                     break;
                 case 1:
@@ -432,13 +430,13 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                     if (StrUtil.equals(nextDevice.getDevice_type(), DeviceType.conveyor.name())) {
                         List<DeviceExtra> list = deviceExtraService.list(Wrappers.lambdaQuery(DeviceExtra.class).eq(DeviceExtra::getDevice_code, next_device_code));
                         for (DeviceExtra deviceExtra : list) {
-                            if("x".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())){
+                            if ("x".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())) {
                                 map.put("to_x", deviceExtra.getExtra_value());
                             }
-                            if("z".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())){
+                            if ("z".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())) {
                                 map.put("to_z", deviceExtra.getExtra_value());
                             }
-                            if("y".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())){
+                            if ("y".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())) {
                                 map.put("to_y", deviceExtra.getExtra_value());
                             }
                         }
@@ -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;
             }
@@ -625,26 +623,26 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) {
                     List<DeviceExtra> list = deviceExtraService.list(Wrappers.lambdaQuery(DeviceExtra.class).eq(DeviceExtra::getDevice_code, start_device_code));
                     for (DeviceExtra deviceExtra : list) {
-                        if("x".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())){
+                        if ("x".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())) {
                             map.put("to_x", deviceExtra.getExtra_value());
                         }
-                        if("z".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())){
+                        if ("z".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())) {
                             map.put("to_z", deviceExtra.getExtra_value());
                         }
-                        if("y".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())){
+                        if ("y".equals(deviceExtra.getExtra_code()) && StrUtil.isNotEmpty(deviceExtra.getExtra_value())) {
                             map.put("to_y", deviceExtra.getExtra_value());
                         }
                     }
                 }
                 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

@@ -78,9 +78,9 @@ import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.regex.Pattern;
 
 /**
-* @author jiaolm
+ * @author jiaolm
-* @date 2023-05-09
+ * @date 2023-05-09
-*/
+ */
 @Service
 @Slf4j
 // @CacheConfig(cacheNames = InstructionService.CACHE_KEY)
@@ -93,7 +93,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     @Autowired
     TaskMapper taskMapper;
     List<Instruction> instructions = new CopyOnWriteArrayList();
-//    List<InstructionMybatis> instructions_mybatis = new CopyOnWriteArrayList();
+    //    List<InstructionMybatis> instructions_mybatis = new CopyOnWriteArrayList();
     @Autowired
     DeviceAppService deviceAppService;
     @Autowired
@@ -115,7 +115,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     }
 
     @Override
-    public List<InstructionDto> queryAll(InstructionQueryParam query){
+    public List<InstructionDto> queryAll(InstructionQueryParam query) {
         return ConvertUtil.convertList(instructionMapper.selectList(QueryHelpMybatisPlus.getPredicate(query)), InstructionDto.class);
     }
 
@@ -132,7 +132,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public int updateById(InstructionDto resources){
+    public int updateById(InstructionDto resources) {
         InstructionMybatis entity = ConvertUtil.convert(resources, InstructionMybatis.class);
         int ret = instructionMapper.updateById(entity);
         // delCaches(resources.id);
@@ -141,14 +141,14 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public int removeByIds(Set<String> ids){
+    public int removeByIds(Set<String> ids) {
         // delCaches(ids);
         return instructionMapper.deleteBatchIds(ids);
     }
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public int removeById(String id){
+    public int removeById(String id) {
         Set<String> set = new HashSet<>(1);
         set.add(id);
         return this.removeByIds(set);
@@ -180,7 +180,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 .eq(InstructionMybatis::getIs_delete, "0")
                 .list();
 //        List list = this.queryAll("instruction_status <2 and is_delete =0");
-        this.instructions = new CopyOnWriteArrayList<>(ConvertUtil.convertList(list,Instruction.class));
+        this.instructions = new CopyOnWriteArrayList<>(ConvertUtil.convertList(list, Instruction.class));
     }
 
     @Override
@@ -196,13 +196,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         IPage<InstructionMybatis> queryPage = PageUtil.toMybatisPage(page);
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
 //        wrapper.eq(InstructionMybatis::getIs_delete,0);
-        wrapper.and(StringUtils.isNotBlank(code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getInstruction_code,code).or().like(InstructionMybatis::getTask_code,code));
+        wrapper.and(StringUtils.isNotBlank(code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getInstruction_code, code).or().like(InstructionMybatis::getTask_code, code));
-        wrapper.like(StringUtils.isNotBlank(vehicle_code),InstructionMybatis::getVehicle_code,vehicle_code);
+        wrapper.like(StringUtils.isNotBlank(vehicle_code), InstructionMybatis::getVehicle_code, vehicle_code);
-        wrapper.eq(StringUtils.isNotBlank(material_type),InstructionMybatis::getMaterial,material_type);
+        wrapper.eq(StringUtils.isNotBlank(material_type), InstructionMybatis::getMaterial, material_type);
-        wrapper.eq(StringUtils.isNotBlank(status),InstructionMybatis::getInstruction_status,status);
+        wrapper.eq(StringUtils.isNotBlank(status), InstructionMybatis::getInstruction_status, status);
-        wrapper.and(StringUtils.isNotBlank(point_code),instructionMybatis -> instructionMybatis.like(InstructionMybatis::getStart_point_code,point_code).or().like(InstructionMybatis::getNext_point_code,point_code));
+        wrapper.and(StringUtils.isNotBlank(point_code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getStart_point_code, point_code).or().like(InstructionMybatis::getNext_point_code, point_code));
-        wrapper.eq(StringUtils.isNotBlank(instruction_type),InstructionMybatis::getInstruction_type,instruction_type);
+        wrapper.eq(StringUtils.isNotBlank(instruction_type), InstructionMybatis::getInstruction_type, instruction_type);
-        wrapper.le(InstructionMybatis::getInstruction_status,1);
+        wrapper.le(InstructionMybatis::getInstruction_status, 1);
         if (!StrUtil.isEmpty(is_over)) {
             if (StrUtil.equals(is_over, "1")) {
                 wrapper.ge(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex());
@@ -210,7 +210,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 wrapper.lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex());
             }
         }
-        IPage<InstructionMybatis> insPage = instructionMapper.selectPage(queryPage,wrapper);
+        IPage<InstructionMybatis> insPage = instructionMapper.selectPage(queryPage, wrapper);
         final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(insPage, InstructionDto.class));
         return json;
     }
@@ -229,31 +229,31 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
 //        wrapper.eq(InstructionMybatis::getIs_delete,"0");
         if (!StrUtil.isEmpty(code)) {
-            wrapper.and(instructionMybatis -> instructionMybatis.like(InstructionMybatis::getInstruction_code,code).or().like(InstructionMybatis::getTask_code,code));
+            wrapper.and(instructionMybatis -> instructionMybatis.like(InstructionMybatis::getInstruction_code, code).or().like(InstructionMybatis::getTask_code, code));
         }
         if (!StrUtil.isEmpty(vehicle_code)) {
-            wrapper.like(InstructionMybatis::getVehicle_code,vehicle_code);
+            wrapper.like(InstructionMybatis::getVehicle_code, vehicle_code);
         }
         if (!StrUtil.isEmpty(material_type)) {
-            wrapper.eq(InstructionMybatis::getMaterial,material_type);
+            wrapper.eq(InstructionMybatis::getMaterial, material_type);
         }
         if (!StrUtil.isEmpty(status)) {
-            wrapper.eq(InstructionMybatis::getInstruction_status,status);
+            wrapper.eq(InstructionMybatis::getInstruction_status, status);
         }
         if (!StrUtil.isEmpty(point_code)) {
-            wrapper.and(instructionMybatis -> instructionMybatis.like(InstructionMybatis::getStart_point_code,point_code).or().like(InstructionMybatis::getNext_point_code,point_code));
+            wrapper.and(instructionMybatis -> instructionMybatis.like(InstructionMybatis::getStart_point_code, point_code).or().like(InstructionMybatis::getNext_point_code, point_code));
         }
         if (!StrUtil.isEmpty(create_time) && !StrUtil.isEmpty(end_time)) {
-           wrapper.between(InstructionMybatis::getCreate_time,create_time,end_time);
+            wrapper.between(InstructionMybatis::getCreate_time, create_time, end_time);
         }
-        IPage<InstructionMybatis> insPage = instructionMapper.selectPage(queryPage,wrapper);
+        IPage<InstructionMybatis> insPage = instructionMapper.selectPage(queryPage, wrapper);
         final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(insPage, InstructionDto.class));
         return json;
     }
 
     @Override
     public Map<String, Object> getByTaskId(String id) {
-        List<InstructionMybatis> insList= new LambdaQueryChainWrapper<>(instructionMapper)
+        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper)
                 .eq(InstructionMybatis::getTask_id, id)
                 .list();
         JSONObject jsonObject = new JSONObject();
@@ -279,9 +279,9 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public List<Instruction> queryAll(Map whereJson) {
-        List<InstructionMybatis> insList= new LambdaQueryChainWrapper<>(instructionMapper)
+        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper)
                 .list();
-        return ConvertUtil.convertList(insList,Instruction.class);
+        return ConvertUtil.convertList(insList, Instruction.class);
     }
 
     @Override
@@ -292,7 +292,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper)
                 .lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex())
                 .list();
-        return ConvertUtil.convertList(insList,Instruction.class);
+        return ConvertUtil.convertList(insList, Instruction.class);
     }
 
 
@@ -306,13 +306,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //        final Instruction obj = json.toJavaObject(Instruction.class);
 //        return obj;
 
-        InstructionMybatis ins= new LambdaQueryChainWrapper<>(instructionMapper)
+        InstructionMybatis ins = new LambdaQueryChainWrapper<>(instructionMapper)
                 .eq(InstructionMybatis::getInstruction_code, code)
                 .one();
-        if(ObjectUtil.isEmpty(ins)){
+        if (ObjectUtil.isEmpty(ins)) {
             return null;
         }
-        return ConvertUtil.convert(ins,Instruction.class);
+        return ConvertUtil.convert(ins, Instruction.class);
     }
 
     @Override
@@ -321,13 +321,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //        JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0);
 //        final Instruction obj = json.toJavaObject(Instruction.class);
 //        return obj;
-        InstructionMybatis ins= new LambdaQueryChainWrapper<>(instructionMapper)
+        InstructionMybatis ins = new LambdaQueryChainWrapper<>(instructionMapper)
                 .eq(InstructionMybatis::getTask_code, code)
                 .one();
-        if(ObjectUtil.isEmpty(ins)){
+        if (ObjectUtil.isEmpty(ins)) {
             return null;
         }
-        return ConvertUtil.convert(ins,Instruction.class);
+        return ConvertUtil.convert(ins, Instruction.class);
     }
 
     @Override
@@ -356,11 +356,11 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //        return null;
 
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
-        wrapper.eq(InstructionMybatis::getTask_id,id);
+        wrapper.eq(InstructionMybatis::getTask_id, id);
-        wrapper.apply(StringUtils.isNotBlank(wherecaluse),wherecaluse);
+        wrapper.apply(StringUtils.isNotBlank(wherecaluse), wherecaluse);
         InstructionMybatis ins = instructionMapper.selectOne(wrapper);
         if (ObjectUtil.isNotEmpty(ins)) {
-            return ConvertUtil.convert(ins,Instruction.class);
+            return ConvertUtil.convert(ins, Instruction.class);
         }
         return null;
     }
@@ -392,7 +392,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             dto.setIs_send(task.getLink_num());
         }
 //        if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
-            dto.setInstruction_type(task.getTask_type());
+        dto.setInstruction_type(task.getTask_type());
 //        } else if (false) {
 //
 //        } else {
@@ -416,8 +416,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             }
         }
 
-        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername)?currentUsername:"admin");
+        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
-        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername)?currentUsername:"admin");
+        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
         dto.setUpdate_time(now);
         dto.setCreate_time(now);
         dto.setStart_parent_code(task.getStart_parent_code());
@@ -810,7 +810,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //        TaskDto obj = taskjson.toJavaObject(TaskDto.class);
 
         Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id,insttaskid)
+                .eq(Task::getTask_id, insttaskid)
                 .one();
         // =0 则不用再次请求
         if (StrUtil.equals(task.getRequest_again(), "0")) {
@@ -845,7 +845,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //        TaskDto obj = taskjson.toJavaObject(TaskDto.class);
 
         Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id,insttaskid)
+                .eq(Task::getTask_id, insttaskid)
                 .one();
         // =0 则不用再次请求
         if (StrUtil.equals(task.getRequest_again(), "0")) {
@@ -899,7 +899,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //        JSONObject taskjson = taskwo.query("task_id ='" + dto.getTask_id() + "'").uniqueResult(0);
 //        TaskDto acsTask = taskjson.toJavaObject(TaskDto.class);
         Task acsTask = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id,dto.getTask_id())
+                .eq(Task::getTask_id, dto.getTask_id())
                 .one();
 
         RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
@@ -916,7 +916,7 @@ 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())) {
+                if (StrUtil.equals(deviceAppService.findDeviceTypeByCode(pathlist.get(index)), DeviceType.stacker.name())) {
                     index += 1;
                 }
                 break;
@@ -1000,7 +1000,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
             // NDC agv指令不当场取消指令,需要等agv上报
             if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
-                ndcAgvService.deleteAgvInstToNDC((Instruction)entity);
+                ndcAgvService.deleteAgvInstToNDC((Instruction) entity);
             } else {
                 flag = true;
             }
@@ -1306,7 +1306,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(start_point_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
                 String start_device =
-                                 deviceDriverDefination
+                        deviceDriverDefination
                                 .getFitDeviceTypes()
                                 .get(0)
                                 .name();
@@ -1332,7 +1332,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(next_device_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
                 String next_device =
-                                 deviceDriverDefination
+                        deviceDriverDefination
                                 .getFitDeviceTypes()
                                 .get(0)
                                 .name();
@@ -1538,7 +1538,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public void init(String id) {
-        InstructionDto inst =  this.findById(id);
+        InstructionDto inst = this.findById(id);
         if (inst == null) {
             throw new BadRequestException("指令不存在或已删除");
         }
@@ -1569,14 +1569,18 @@ 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)){
+        if (ObjectUtil.isNull(instruction1)) {
             return null;
         }
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
-        wrapper.eq(StrUtil.isNotBlank(instruction1.getInstruction_status()),InstructionMybatis::getInstruction_status,instruction1.getInstruction_status());
+        if (flay) {
-        wrapper.eq(StrUtil.isNotBlank(instruction1.getStart_device_code()),InstructionMybatis::getStart_device_code,instruction1.getStart_device_code());
+            wrapper.le(StrUtil.isNotBlank(instruction1.getInstruction_status()), InstructionMybatis::getInstruction_status, instruction1.getInstruction_status());
-        wrapper.eq(StrUtil.isNotBlank(instruction1.getNext_device_code()),InstructionMybatis::getNext_device_code,instruction1.getNext_device_code());
+        } 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);
         List<Instruction> instructions = ConvertUtil.convertList(instructionMybatis, Instruction.class);
         return instructions;

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

@@ -78,9 +78,9 @@ import java.util.regex.Pattern;
 import java.util.stream.Collectors;
 
 /**
-* @author jiaolm
+ * @author jiaolm
-* @date 2023-05-09
+ * @date 2023-05-09
-*/
+ */
 @Service
 @Slf4j
 // @CacheConfig(cacheNames = TaskService.CACHE_KEY)
@@ -124,7 +124,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     }
 
     @Override
-    public List<TaskDto> queryAll(TaskQueryParam query){
+    public List<TaskDto> queryAll(TaskQueryParam query) {
         return ConvertUtil.convertList(taskMapper.selectList(QueryHelpMybatisPlus.getPredicate(query)), TaskDto.class);
     }
 
@@ -148,7 +148,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public int updateById(TaskDto resources){
+    public int updateById(TaskDto resources) {
         Task entity = ConvertUtil.convert(resources, Task.class);
         int ret = taskMapper.updateById(entity);
         // delCaches(resources.id);
@@ -157,14 +157,14 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public int removeByIds(Set<String> ids){
+    public int removeByIds(Set<String> ids) {
         // delCaches(ids);
         return taskMapper.deleteBatchIds(ids);
     }
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public int removeById(String id){
+    public int removeById(String id) {
         Set<String> set = new HashSet<>(1);
         set.add(id);
         return this.removeByIds(set);
@@ -254,6 +254,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     /**
      * 获取未完成任务
+     *
      * @throws Exception
      */
     @Override
@@ -272,21 +273,21 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public List queryAll(String whereJson) {
-        List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
                 .lt(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex())
-                .eq(Task::getIs_delete,"0")
+                .eq(Task::getIs_delete, "0")
                 .orderByDesc(Task::getCreate_time)
                 .list();
-        return ConvertUtil.convertList(taskList,TaskDto.class);
+        return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
     @Override
     public List<TaskDto> queryAllByStatus(String task_status) {
-        List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
                 .eq(Task::getTask_status, task_status)
-                .eq(Task::getIs_delete,"0")
+                .eq(Task::getIs_delete, "0")
                 .list();
-        return ConvertUtil.convertList(taskList,TaskDto.class);
+        return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
     @Override
@@ -302,29 +303,29 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         IPage<Task> queryPage = PageUtil.toMybatisPage(page);
         LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<>();
         if (!StrUtil.isEmpty(task_code)) {
-            wrapper.eq(Task::getTask_code,task_code);
+            wrapper.eq(Task::getTask_code, task_code);
         }
         if (!StrUtil.isEmpty(vehicle_code)) {
-            wrapper.eq(Task::getVehicle_code,vehicle_code);
+            wrapper.eq(Task::getVehicle_code, vehicle_code);
         }
         if (!StrUtil.isEmpty(material_type)) {
-            wrapper.eq(Task::getMaterial,material_type);
+            wrapper.eq(Task::getMaterial, material_type);
         }
         if (!StrUtil.isEmpty(status)) {
-            wrapper.eq(Task::getTask_status,status);
+            wrapper.eq(Task::getTask_status, status);
         }
         if (!StrUtil.isEmpty(point_code)) {
-            wrapper.and(task -> task.like(Task::getStart_point_code,point_code).or().like(Task::getNext_point_code,point_code));
+            wrapper.and(task -> task.like(Task::getStart_point_code, point_code).or().like(Task::getNext_point_code, point_code));
         }
         if (!StrUtil.isEmpty(is_over)) {
-            if (StrUtil.equals(is_over,"1")){
+            if (StrUtil.equals(is_over, "1")) {
-                wrapper.ge(Task::getTask_status,TaskStatusEnum.FINISHED.getIndex());
+                wrapper.ge(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex());
-            }else{
+            } else {
-                wrapper.lt(Task::getTask_status,TaskStatusEnum.FINISHED.getIndex());
+                wrapper.lt(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex());
             }
         }
-        wrapper.le(Task::getTask_status,1);
+        wrapper.le(Task::getTask_status, 1);
-        IPage<Task> taskPage = taskMapper.selectPage(queryPage,wrapper);
+        IPage<Task> taskPage = taskMapper.selectPage(queryPage, wrapper);
         final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(taskPage, TaskDto.class));
         return json;
     }
@@ -414,24 +415,24 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<>();
 //        wrapper.eq(InstructionMybatis::getIs_delete,"0");
         if (!StrUtil.isEmpty(task_code)) {
-            wrapper.eq(Task::getTask_code,task_code);
+            wrapper.eq(Task::getTask_code, task_code);
         }
         if (!StrUtil.isEmpty(vehicle_code)) {
-            wrapper.like(Task::getVehicle_code,vehicle_code);
+            wrapper.like(Task::getVehicle_code, vehicle_code);
         }
         if (!StrUtil.isEmpty(material_type)) {
-            wrapper.eq(Task::getMaterial,material_type);
+            wrapper.eq(Task::getMaterial, material_type);
         }
         if (!StrUtil.isEmpty(status)) {
-            wrapper.eq(Task::getTask_status,status);
+            wrapper.eq(Task::getTask_status, status);
         }
         if (!StrUtil.isEmpty(point_code)) {
-            wrapper.and(task -> task.like(Task::getStart_point_code,point_code).or().like(Task::getNext_point_code,point_code));
+            wrapper.and(task -> task.like(Task::getStart_point_code, point_code).or().like(Task::getNext_point_code, point_code));
         }
         if (!StrUtil.isEmpty(create_time) && !StrUtil.isEmpty(end_time)) {
-            wrapper.between(Task::getCreate_time,create_time,end_time);
+            wrapper.between(Task::getCreate_time, create_time, end_time);
         }
-        IPage<Task> taskPage = taskMapper.selectPage(queryPage,wrapper);
+        IPage<Task> taskPage = taskMapper.selectPage(queryPage, wrapper);
         final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(taskPage, TaskDto.class));
         JSONArray array = json.getJSONArray("content");
         int totalElements = (int) json.getLongValue("totalElements");
@@ -450,9 +451,9 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     @Override
     public List<TaskDto> queryAll(Map whereJson) {
 
-        List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
                 .list();
-        return ConvertUtil.convertList(taskList,TaskDto.class);
+        return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
 //    @Override
@@ -469,10 +470,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 //        JSONArray arr = wo.query("task_status < 2 ").getResultJSONArray(0);
 //        List<TaskDto> list = arr.toJavaList(TaskDto.class);
 //        return list;
-        List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .lt(Task::getTask_status,TaskStatusEnum.FINISHED.getIndex())
+                .lt(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex())
                 .list();
-        return ConvertUtil.convertList(taskList,TaskDto.class);
+        return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
     @Override
@@ -481,10 +482,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 //        JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0);
 //        final TaskDto obj = json.toJavaObject(TaskDto.class);
 //        return obj;
-        Task task= new LambdaQueryChainWrapper<>(taskMapper)
+        Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_code,code)
+                .eq(Task::getTask_code, code)
                 .one();
-        return ConvertUtil.convert(task,TaskDto.class);
+        return ConvertUtil.convert(task, TaskDto.class);
     }
 
     @Override
@@ -603,10 +604,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 //        JSONArray arr = wo.query("task_status = '" + status + "'").getResultJSONArray(0);
 //        List<TaskDto> list = arr.toJavaList(TaskDto.class);
 //        return list;
-        List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_status,status)
+                .eq(Task::getTask_status, status)
                 .list();
-        return ConvertUtil.convertList(taskList,TaskDto.class);
+        return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
     @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)) {
@@ -1495,8 +1505,8 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         } else {
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(start_point_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
-                String start_device=
+                String start_device =
-                                 deviceDriverDefination
+                        deviceDriverDefination
                                 .getFitDeviceTypes()
                                 .get(0)
                                 .name();
@@ -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);
             }
@@ -1560,37 +1569,37 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         } else {
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(next_point_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
-            String next_device =
+                String next_device =
-                             deviceDriverDefination
+                        deviceDriverDefination
-                            .getFitDeviceTypes()
+                                .getFitDeviceTypes()
-                            .get(0)
+                                .get(0)
-                            .name();
+                                .name();
-            if (StrUtil.equals("storage", next_device)) {
+                if (StrUtil.equals("storage", next_device)) {
-                if (StrUtil.isEmpty(task.getTo_x())) {
+                    if (StrUtil.isEmpty(task.getTo_x())) {
-                    throw new BadRequestException("货位信息终点需要包含列信息");
+                        throw new BadRequestException("货位信息终点需要包含列信息");
+                    }
+                    if (StrUtil.isEmpty(task.getTo_y())) {
+                        throw new BadRequestException("货位信息终点需要包含层信息");
+                    }
+                    if (Integer.parseInt(task.getTo_y()) < 10 && task.getTo_y().length() == 1) {
+                        to_y = "0" + task.getTo_y();
+                        task.setTo_y(to_y);
+                    } else {
+                        to_y = task.getTo_y();
+                    }
+                    if (Integer.parseInt(task.getTo_z()) < 10 && task.getTo_z().length() == 1) {
+                        to_z = "0" + task.getTo_z();
+                        task.setTo_z(to_z);
+                    } else if (task.getTo_z().length() == 2) {
+                        to_z = task.getTo_z();
+                        task.setTo_z(to_z);
+                    } else {
+                        to_z = task.getTo_z();
+                    }
+                    task.setTo_x(next_point_code);
+                    task.setNext_point_code(next_point_code + "-" + to_y + "-" + to_z);
+                    task.setNext_device_code(next_point_code);
                 }
-                if (StrUtil.isEmpty(task.getTo_y())) {
-                    throw new BadRequestException("货位信息终点需要包含层信息");
-                }
-                if (Integer.parseInt(task.getTo_y()) < 10 && task.getTo_y().length() == 1) {
-                    to_y = "0" + task.getTo_y();
-                    task.setTo_y(to_y);
-                } else {
-                    to_y = task.getTo_y();
-                }
-                if (Integer.parseInt(task.getTo_z()) < 10 && task.getTo_z().length() == 1) {
-                    to_z = "0" + task.getTo_z();
-                    task.setTo_z(to_z);
-                } else if (task.getTo_z().length() == 2) {
-                    to_z = task.getTo_z();
-                    task.setTo_z(to_z);
-                } else {
-                    to_z = task.getTo_z();
-                }
-                task.setTo_x(next_point_code);
-                task.setNext_point_code(next_point_code + "-" + to_y + "-" + to_z);
-                task.setNext_device_code(next_point_code);
-            }
             } else {
                 task.setNext_device_code(next_point_code);
                 task.setNext_device_code(next_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;
 
 /**
@@ -166,7 +179,7 @@ public class AutoCreateInst {
                 } 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:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type()) ;
+                    log.info("未找到对应的AGV指令类型，任务号:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type());
                     continue;
                 }
             } else {

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>