fix: 仙宫日志添加

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java

@@ -53,28 +53,29 @@ public class AgvWaitUtil {
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
             if (manipulatorAgvStationDeviceDriver.getTo_command() != 2) {
                 manipulatorAgvStationDeviceDriver.writing(2);
-                if (manipulatorAgvStationDeviceDriver.getAction() == 1) {
-                    LuceneLogDto logDto1 = LuceneLogDto.builder()
-                            .device_code(inst.getCarno())
-                            .content("诺宝agv允许取货" + "点位" + startDeviceCode)
-                            .build();
-                    logDto1.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto1);
-                    JSONObject map = new JSONObject();
-                    map.put("status", 200);
-                    map.put("message", "允许取货！");
-                    log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
-                    return map;
-                } else {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(inst.getCarno())
-                            .content("agv诺宝对接位行架不允许取货:" + inst.getCarno() + "点位号" + manipulatorAgvStationDeviceDriver.getDevice_code())
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                    throw new BadRequestException("行架不允许取货");
-                }
             }
+            if (manipulatorAgvStationDeviceDriver.getAction() == 1) {
+                LuceneLogDto logDto1 = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("诺宝agv允许取货" + "点位" + startDeviceCode)
+                        .build();
+                logDto1.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto1);
+                JSONObject map = new JSONObject();
+                map.put("status", 200);
+                map.put("message", "允许取货！");
+                log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
+                return map;
+            } else {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("agv诺宝对接位行架不允许取货:" + inst.getCarno() + "点位号" + manipulatorAgvStationDeviceDriver.getDevice_code())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                throw new BadRequestException("行架不允许取货");
+            }
+
 
         }
         //agv叉车对接位安全信号交互
@@ -103,8 +104,8 @@ public class AgvWaitUtil {
             }
         }
         JSONObject map = new JSONObject();
-        map.put("status", 400);
+        map.put("status", 200);
-        map.put("message", "取货点位信息不对！");
+        map.put("message", "允许取货！");
         log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
         return map;
     }
@@ -187,17 +188,18 @@ public class AgvWaitUtil {
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver();
             if (manipulatorAgvStationDeviceDriver.getTo_command() != 4) {
                 manipulatorAgvStationDeviceDriver.writing(4);
-                if (manipulatorAgvStationDeviceDriver.getAction() != 1) {
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(inst.getCarno())
-                            .content("agv诺宝对接位行架不允许放货:" + inst.getCarno() + "点位号" + manipulatorAgvStationDeviceDriver.getDevice_code())
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                    log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", endDevice);
-                    throw new BadRequestException("上位系统不允许取货");
-                }
             }
+            if (manipulatorAgvStationDeviceDriver.getAction() != 1) {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("agv诺宝对接位行架不允许放货:" + inst.getCarno() + "点位号" + manipulatorAgvStationDeviceDriver.getDevice_code())
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
+                log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", endDevice);
+                throw new BadRequestException("上位系统不允许取货");
+            }
+
         }
         LuceneLogDto logDto = LuceneLogDto.builder()
                 .device_code(inst.getCarno())

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java

@@ -8,6 +8,7 @@ import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
+import jodd.util.StringUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
@@ -18,7 +19,6 @@ import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.angle.service.IAcsPointAngleService;
 import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
-import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver;
 import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
@@ -29,8 +29,9 @@ import org.nl.acs.device.enums.DeviceType;
 import org.nl.acs.task.enums.ActionTypeEnum;
 import org.nl.acs.task.enums.AgvActionTypeEnum;
 import org.nl.acs.task.enums.AgvSystemTypeEnum;
+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.nl.config.language.LangProcess;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
@@ -59,6 +60,9 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     @Autowired
     private InstructionService instructionService;
 
+    @Autowired
+    private TaskService taskserver;
+
     @Autowired
     private LuceneExecuteLogService luceneExecuteLogService;
     @Autowired
@@ -401,7 +405,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         }
     }
 
-    private void inspectInStocckSet( String pointCode, JSONObject jo1) {
+    private void inspectInStocckSet(String pointCode, JSONObject jo1) {
         Device device = deviceAppservice.findDeviceByCode(pointCode);
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
         if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
@@ -765,14 +769,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
                     Integer actionType = ActionTypeEnum.IN_STOCK.getCode();
                     String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto);
-                    return agvWaitUtil.waitInGet(newPointCode, instructionDto);
+                    log.info("取货二次分配追加诺宝成功，新点位 - {}", newPointCode);
                 }
                 //如果是放货二次分配，取放货二次分配需要重新追加动作块
                 if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
                     Integer actionType = ActionTypeEnum.OUT_STOCK.getCode();
                     String newPointCode =  applyXGAgvTask(task_code, actionType, instructionDto);
 //                    sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), deviceCodeNow, instructionDto);
-                    return agvWaitUtil.waitInPut(newPointCode, instructionDto);
+                    log.info("放货二次分配追加诺宝成功，新点位 - {}", newPointCode);
                 }
             }
             //一楼叉车
@@ -810,10 +814,19 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
             if (address.contains("GET")) {
                 //取货完成
-                return agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
+                JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
+                if (StringUtil.equals("200",jsonObject.getString("status"))){
+                    log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", deviceCodeNow);
+                    return jsonObject;
+                }
             } else if (address.contains("PUT")) {
                 //放货完成
-                return agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
+                JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
+                if (StringUtil.equals("200",jsonObject.getString("status"))){
+                    log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", deviceCodeNow);
+                    return jsonObject;
+                }
+
             }
         }
 
@@ -953,6 +966,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                         .content("二次分配请求lms,参数,接口返回:" + jo)
                         .build();
                 logDto2.setLog_level(4);
+                //二次分配更新点位
+                updataTask(instructionDto, jo.getString("data"));
                 luceneExecuteLogService.deviceExecuteLog(logDto2);
                 if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) {
                     //请求成功调用诺宝追加动作块
@@ -976,6 +991,26 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         return null;
     }
 
+    private void updataTask(Instruction instructionDto, String newPoint) {
+
+        TaskDto taskUpdate = new TaskDto();
+        if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+            instructionDto.setStart_point_code(newPoint);
+            taskUpdate.setStart_point_code(newPoint);
+            instructionDto.setStart_device_code(newPoint);
+            taskUpdate.setStart_device_code(newPoint);
+        }
+        if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+            instructionDto.setNext_point_code(newPoint);
+            taskUpdate.setNext_point_code(newPoint);
+            instructionDto.setNext_device_code(newPoint);
+            taskUpdate.setNext_device_code(newPoint);
+        }
+        taskUpdate.setTask_id(instructionDto.getTask_id());
+        instructionService.update(instructionDto);
+        taskserver.update(taskUpdate);
+    }
+
 
     @Override
     public HttpResponse sendOrderSequencesToForklift(Instruction inst, InteractionJsonDTO interactionJsonDTO) {
@@ -1087,6 +1122,25 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
     private void sendEndDeviceOrder3(JSONArray ja, String nextDeviceCode, String instructionCode, Instruction instructionDto) {
+        JSONObject jo3 = new JSONObject();
+        jo3.put("blockId", IdUtil.simpleUUID());
+        jo3.put("location", nextDeviceCode + "INPUT");
+        jo3.put("operation", "script");
+        jo3.put("id", nextDeviceCode + "INPUT");
+        jo3.put("script_name", "userpy/interact.py");
+        JSONObject script_args3 = new JSONObject();
+        script_args3.put("addr", addr);
+        JSONObject data3 = new JSONObject();
+        JSONObject reach3 = new JSONObject();
+        reach3.put("task_code", instructionCode);
+        reach3.put("address", nextDeviceCode + "INPUT");
+        data3.put("reach", reach3);
+        script_args3.put("data", data3);
+        script_args3.put("protocol", "HTTP");
+        jo3.put("script_args", script_args3);
+        ja.add(jo3);
+
+
         //将货物放下
         com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
         jo4.put("blockId", IdUtil.simpleUUID());
@@ -1119,7 +1173,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         JSONArray ja = new JSONArray();
         String nextDeviceCode = instructionDto.getNext_device_code();
         //起点2
-        sendStartDeviceOrder2(ja, startPoint, instructionCode);
+        sendStartDeviceOrder2(ja, startPoint, instructionCode, instructionDto);
         //终点2
         sendEndDeviceOrder2(ja, nextDeviceCode, instructionCode, instructionDto);
         return ja;
@@ -1173,7 +1227,32 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         }
     }
 
-    private void sendStartDeviceOrder2(JSONArray ja, String startPoint, String instructionCode) {
+    private void sendStartDeviceOrder2(JSONArray ja, String startPoint, String instructionCode, Instruction instructionDto) {
+        //取货前等待
+        JSONObject jo = new JSONObject();
+        //动作块id
+        jo.put("blockId", IdUtil.simpleUUID());
+        //目的地名称
+        jo.put("location", startPoint + "INGET");
+        //执行脚本
+        jo.put("operation", "script");
+        jo.put("id", startPoint + "INGET");
+        //通信脚本,动作前后与现场设备交互的场景
+        jo.put("script_name", "userpy/interact.py");
+        JSONObject script_args = new JSONObject();
+        //更改为现场设备IP及PORT
+        script_args.put("addr", addr);
+        JSONObject data = new JSONObject();
+        JSONObject reach = new JSONObject();
+        reach.put("task_code", instructionCode);
+        reach.put("address", startPoint + "INGET");
+        data.put("reach", reach);
+        script_args.put("data", data);
+        script_args.put("protocol", "HTTP");
+        jo.put("script_args", script_args);
+        ja.add(jo);
+
+
         //将货物顶起来,机器识别提升高度
         JSONObject jo1 = new JSONObject();
         jo1.put("blockId", IdUtil.simpleUUID());

acs2/nladmin-ui/src/i18n/langs/task/en.js

@@ -7,6 +7,7 @@ export default {
       'Task_status': 'Task Status',
       'Origin_or_destination': 'Origin Or Destination',
       'Task_type': 'Task Type',
+      'Action_type': 'Action Type',
       'Warehouse_task_type': 'Warehouse Task Type',
       'AGV_system': 'AGV System',
       'Routing_scheme': 'Routing Scheme',

acs2/nladmin-ui/src/i18n/langs/task/in.js

@@ -7,6 +7,7 @@ export default {
       'Task_status': 'Status Tugas',
       'Origin_or_destination': 'Asal Atau Tujuan',
       'Task_type': 'Jenis Tugas',
+      'Action_type': 'Tipe tugas sekunder',
       'Warehouse_task_type': 'Jenis Tugas Gudang',
       'AGV_system': 'Sistem AGV',
       'Routing_scheme': 'Skema Routing',

acs2/nladmin-ui/src/i18n/langs/task/zh.js

@@ -7,6 +7,7 @@ export default {
       'Task_status': '任务状态',
       'Origin_or_destination': '输入起点或终点',
       'Task_type': '任务类型',
+      'Action_type': '二次分配类型',
       'Warehouse_task_type': '立库任务类型',
       'AGV_system': 'agv系统',
       'Routing_scheme': '路由方案',

acs2/nladmin-ui/src/views/acs/task/index.vue

@@ -505,6 +505,7 @@
         <el-table-column type="selection" width="25" />
         <el-table-column v-if="false" prop="task_id" label="任务标识" />
         <el-table-column prop="task_code" :label="$t('task.txt_box.Task_code')" :min-width="flexWidth('task_code',crud.data,$t('task.txt_box.Task_code'))" />
+        <el-table-column prop="action_type" :label="$t('task.txt_box.Action_type')" :min-width="flexWidth('action_type',crud.data,$t('task.txt_box.Action_type'))">
         <el-table-column prop="task_type" :label="$t('task.txt_box.Task_type')" :min-width="flexWidth('task_type',crud.data,$t('task.txt_box.Task_type'))">
           <template slot-scope="scope">
             {{ dict.label.task_type[scope.row.task_type] }}