add: 添加二次分配顶点任务

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

@@ -52,7 +52,19 @@ public class AgvWaitUtil {
         if(startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver){
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
             manipulatorAgvStationDeviceDriver.writing(2);
-            if(manipulatorAgvStationDeviceDriver.getAction() != 1){
+            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())
@@ -66,7 +78,19 @@ public class AgvWaitUtil {
         //agv叉车对接位安全信号交互
         if(startDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver){
             boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) startDevice.getDeviceDriver();
-            if(boxSubvolumesConveyorDeviceDriver.getMode() != 2){
+            if(boxSubvolumesConveyorDeviceDriver.getMode() == 2){
+                LuceneLogDto logDto1 = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("叉车允许取货")
+                        .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 logDto1 = LuceneLogDto.builder()
                         .device_code(inst.getCarno())
                         .content("agv叉车对接位输送线不允许取货:" + inst.getCarno()+ "点位号"+ boxSubvolumesConveyorDeviceDriver.getDevice_code())
@@ -76,15 +100,9 @@ public class AgvWaitUtil {
                 throw new BadRequestException("上位系统不允许取货");
             }
         }
-        LuceneLogDto logDto1 = LuceneLogDto.builder()
-                .device_code(inst.getCarno())
-                .content("200:允许取货")
-                .build();
-        logDto1.setLog_level(4);
-        luceneExecuteLogService.deviceExecuteLog(logDto1);
         JSONObject map = new JSONObject();
-        map.put("status", 200);
+        map.put("status", 400);
-        map.put("message", "允许取货！");
+        map.put("message", "取货点位信息不对！");
         log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
         return map;
     }
@@ -98,14 +116,19 @@ public class AgvWaitUtil {
         Device startDevice = deviceAppService.findDeviceByCode(startDeviceCode);
         ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
         if (inst.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())){
-            BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver;
+            if(startDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver) {
-            boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) startDevice.getDeviceDriver();
+                BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver;
-            boxSubvolumesConveyorDeviceDriver.writing(3);
+                boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) startDevice.getDeviceDriver();
+                boxSubvolumesConveyorDeviceDriver.writing(3);
+            }
         }
+        //诺宝agv调lms更新点位
         if(inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){
             applyLmsGetOut(inst);
-            manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
+            if(startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
-            manipulatorAgvStationDeviceDriver.writing(3);
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
+                manipulatorAgvStationDeviceDriver.writing(3);
+            }
 
         }
         JSONObject map = new JSONObject();
@@ -181,8 +204,10 @@ public class AgvWaitUtil {
         Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
         ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
         if(inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){
-            manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver();
+            if(nextDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
-            manipulatorAgvStationDeviceDriver.writing(5);
+                manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver();
+                manipulatorAgvStationDeviceDriver.writing(5);
+            }
 
         }
         log.info("仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);

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

@@ -18,6 +18,8 @@ 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;
 import org.nl.acs.instruction.service.InstructionService;
@@ -28,6 +30,7 @@ import org.nl.acs.task.enums.ActionTypeEnum;
 import org.nl.acs.task.enums.AgvActionTypeEnum;
 import org.nl.acs.task.enums.AgvSystemTypeEnum;
 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;
@@ -58,6 +61,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
     @Autowired
     private LuceneExecuteLogService luceneExecuteLogService;
+//    DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
+
 
     @Autowired
     private AgvWaitUtil agvWaitUtil;
@@ -373,6 +378,9 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo1.put("blockId", IdUtil.simpleUUID());
             jo1.put("location", pointCode);
             jo1.put("operation", "JackLoad");
+//            Device device = deviceAppservice.findDeviceByCode(pointCode);
+//            StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+//            standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver() ;
             jo1.put("operationArgs", new JSONObject() {{
                 put("recognize", true);
             }});
@@ -730,60 +738,52 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
                 throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
             }
-            if (address.contains("GET") || address.contains("WAIT")) {
+            //一楼诺宝agv
-                if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
+            if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
+                if (address.contains("GET") || address.contains("WAIT")) {
                     //如果是取货二次分配，取放货二次分配需要重新追加动作块
                     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();
-                        deviceCodeNow = applyXGAgvTask(task_code, actionType, instructionDto);
+                        String newPointCode  = applyXGAgvTask(task_code, actionType, instructionDto);
-                        if (StrUtil.isNotEmpty(deviceCodeNow)) {
+                        return agvWaitUtil.waitInGet(newPointCode, instructionDto);
-                            return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
-                        } else {
-                            LuceneLogDto logDto = LuceneLogDto.builder()
-                                    .content("取货分配新的点位为空")
-                                    .build();
-                            logDto.setLog_level(4);
-                            luceneExecuteLogService.deviceExecuteLog(logDto);
-                            throw new BadRequestException("取货分配新的点位为空");
-                        }
                     }
-                }
+                    return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
-                return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
+                } else if (address.contains("PUT") || address.contains("WAIT")) {
-            } else if (address.contains("PUT") || address.contains("WAIT")) {
-                if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
                     //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();
-                        deviceCodeNow = applyXGAgvTask(task_code, actionType, instructionDto);
+//                        deviceCodeNow = applyXGAgvTask(task_code, actionType, instructionDto);
-                        if (StrUtil.isNotEmpty(deviceCodeNow)) {
+                        deviceCodeNow = "ZXQ_05";
-                            return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
+                        return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
-                        } else {
-                            LuceneLogDto logDto = LuceneLogDto.builder()
-                                    .content("防货分配新的点位为空")
-                                    .build();
-                            logDto.setLog_level(4);
-                            luceneExecuteLogService.deviceExecuteLog(logDto);
-                            throw new BadRequestException("防货分配新的点位为空");
-                        }
                     }
-                } else if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
+                    return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
-                    deviceCodeNow = applyCCAgvTask(task_code, instructionDto);
+                }
-                    if (StrUtil.isNotEmpty(deviceCodeNow)) {
+            }
-                        JSONObject map = new JSONObject();
+            //一楼叉车
-                        map.put("status", 200);
+            if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
-                        map.put("message", "允许放货！");
+                if (address.contains("GET")) {
-                        log.info("允许仙工AGV放货，设备号 - {}", deviceCodeNow);
+                    //取货前等待
-                        return map;
+                    return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
-                    } else {
+                } else {
+                    //放货前二次分配
+                    if (address.contains("WAIT")) {
+                        String newPointCode = applyCCAgvTask(task_code, instructionDto);
                         LuceneLogDto logDto = LuceneLogDto.builder()
-                                .content("防货分配新的点位为空")
+                                .content("叉车允许放货"+"新点位:"+newPointCode)
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                        throw new BadRequestException("防货分配新的点位为空");
+                        JSONObject map = new JSONObject();
+                        map.put("status", 200);
+                        map.put("message", "允许叉车放货！"+"点位"+newPointCode);
+                        log.info("允许仙工AGV放货，设备号 - {}", newPointCode);
+                        return map;
+                    }
+                    //放货前等待
+                    if (address.contains("PUT")) {
+                        return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
                     }
                 }
-                return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
             }
         }
         if (address.contains("OUT")) {
@@ -793,8 +793,10 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             }
 
             if (address.contains("GET")) {
+                //取货完成
                 return agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
             } else if (address.contains("PUT")) {
+                //放货完成
                 return agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
             }
         }
@@ -849,8 +851,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         jo.put("blocks", createBlocksDataTowCCStart(nextPoint));
 
         LuceneLogDto logDto = LuceneLogDto.builder()
-                .device_code("追加诺宝运单")
+                .device_code("追加叉车运单")
-                .content("指令号:" + instructionCode + ",追加诺宝运单参数:" + jo)
+                .content("指令号:" + instructionCode + ",追加叉车运单参数:" + jo)
                 .build();
         logDto.setLog_level(4);
         luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -873,9 +875,9 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                     .device_code("叉车追加运单响应")
                     .content("指令号:" + instructionCode + ",下发追加诺宝叉车运单反馈参数:" + jo)
                     .build();
-            logDto.setLog_level(4);
+            logDto1.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto1);
-            log.info("指令号{},状态{},下发追加诺宝运单序列反馈:{}", instructionCode, result.getStatus(), result.body());
+            log.info("指令号{},状态{},下发追加叉车运单序列反馈:{}", instructionCode, result.getStatus(), result.body());
 
         }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java

@@ -113,6 +113,11 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
      * 申请搬运任务
      */
     private Boolean apply_handling = false;
+
+    /**
+     * 忽略校验
+     */
+    private Boolean standard_ordinary_site = false;
     /**
      * 申请物料
      */

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java

@@ -184,6 +184,7 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             to_task = this.itemProtocol.getTo_task();
             heartbeat = this.itemProtocol.getHeartbeat();
             material_barcode = this.itemProtocol.getMaterialBarCode();
+
             // 更新指令状态
             if (mode != last_mode) {
                 JSONObject param = new JSONObject();
@@ -463,7 +464,7 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
         jo.put("isError", this.getIserror());
         jo.put("message", message);
         jo.put("hand_barcode", hand_barcode);
-        jo.put("barcode", this.getMove() == 0 ? null : checkInst() == null ? vehicle_code : checkInst().getVehicle_code());
+        jo.put("material_barcode", material_barcode);
         jo.put("is_click", true);
         jo.put("requireSucess", requireSucess);
         jo.put("driver_type", "siemens_conveyor");

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -648,6 +648,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 if (StrUtil.isNotEmpty(hand_material_barcode)) {
                     param.put("material_barcode", hand_material_barcode);
                 }
+                if (mode == 7 && weight != 0){
+                    param.put("weight", weight);
+                }
                 param.put("type", type);
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)

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

@@ -10,6 +10,7 @@ export default {
       'Warehouse_task_type': 'Warehouse Task Type',
       'AGV_system': 'AGV System',
       'Routing_scheme': 'Routing Scheme',
+      'agv_action_type': 'agv Secondary allocation type',
       'Priority': 'Priority',
       'Vehicle_number': 'Vehicle Number',
       'Task_code': 'Task Code',

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

@@ -10,6 +10,7 @@ export default {
       'Warehouse_task_type': 'Jenis Tugas Gudang',
       'AGV_system': 'Sistem AGV',
       'Routing_scheme': 'Skema Routing',
+      'agv_action_type': 'Tipe distribusi kedua agv',
       'Priority': 'Prioritas',
       'Vehicle_number': 'Nomor Kendaraan',
       'Task_code': 'Nomor Tugas',

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

@@ -10,6 +10,7 @@ export default {
       'Warehouse_task_type': '立库任务类型',
       'AGV_system': 'agv系统',
       'Routing_scheme': '路由方案',
+      'agv_action_type': 'agv二次分配类型',
       'Priority': '优先级',
       'Vehicle_number': '载具号',
       'Task_code': '任务号',

acs2/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue

@@ -24,7 +24,7 @@
       <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
         <el-row>
           <el-col :span="8">
-            <el-form-item label="检验有货">
+            <el-form-item label="忽略校验">
               <el-switch v-model="form.inspect_in_stocck" />
             </el-form-item>
           </el-col>

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

@@ -204,6 +204,23 @@
                   />
                 </el-select>
               </el-form-item>
+              <el-form-item :label="$t('task.txt_box.agv_action_type')">
+                <el-select
+                  v-model="form.agv_action_type"
+                  style="width: 370px;"
+                  filterable
+                  :placeholder="$t('task.select.Placeholder')"
+                  default-first-option
+                  @change="isDisabled=false"
+                >
+                  <el-option
+                    v-for="item in agvActionList"
+                    :key="item.key"
+                    :label="item.key"
+                    :value="item.value"
+                  />
+                </el-select>
+              </el-form-item>
               <el-form-item :label="$t('task.select.Start_point')" prop="start_point_code">
                 <el-select
                   v-model="form.start_point_code"
@@ -649,6 +666,12 @@ export default {
       materialList: [],
       statusList: [],
       routeList: [],
+      agvActionList: [
+        { key: '普通任务', value: 1 },
+        { key: '取货二次分配', value: 2 },
+        { key: '防货二次分配', value: 3 },
+        { key: '取放货二次分配', value: 4 }
+      ],
       task_type: [],
       fromYList: [],
       fromZList: [],
@@ -680,6 +703,7 @@ export default {
         remark: null,
         material: null,
         route_plan_code: 'normal',
+        agv_action_type: 1,
         from_x: null,
         from_y: null,
         from_z: null,