fix: 堆垛机对接位通过补码生成到货架的任务

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

@@ -80,7 +80,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     @Autowired
     DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
 
-    LuceneExecuteLogService luceneExecuteLogService  =  SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
+    LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
 
     ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
 
@@ -92,47 +92,47 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     private Date instruction_apply_time = new Date();
     private int instruction_require_time_out = 3000;
 
-   /**
+    /**
      * 心跳
      */
     int heartbeat = 0;
     int last_heartbeat = 0;
-     /**
+    /**
      * 工作模式
      */
     int mode = 0;
     int last_mode = 0;
-     /**
+    /**
      * 光电信号
      */
     int move = 0;
     int last_move = 0;
-     /**
+    /**
      * 托盘方向
      */
     int container_direction = 0;
     int last_container_direction = 0;
-     /**
+    /**
      * 报警
      */
     int error = 0;
     int last_error = 0;
-     /**
+    /**
      * 动作信号
      */
     int action = 0;
     int last_action = 0;
-     /**
+    /**
      * 任务号
      */
     int task = 0;
     int last_task = 0;
-     /**
+    /**
      * 托盘类型
      */
     int container_type = 0;
     int last_container_type = 0;
-     /**
+    /**
      * 纯数字托盘号
      */
     int container_no = 0;
@@ -199,6 +199,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     String vehicle_code;
     String inst_message;
 
+    String hand_barcode = null;
+
     /**
      * led点阵屏信息
      */
@@ -235,7 +237,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
 
             if (mode != last_mode) {
                 requireSucess = false;
-                if(mode == 2){
+                if (mode == 2) {
                     clearWrite();
                 }
             }
@@ -314,9 +316,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     }
 
 
-
-
-
     public void writing(int command) {
         String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
                 + "." + org.nl.acs.device_driver.conveyor.standard_conveyor_control_with_scanner.ItemProtocol.item_to_command;
@@ -424,8 +423,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     }
 
 
-
-
     /**
      * 申请任务
      */
@@ -469,6 +466,53 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                 //判断是否有相同起点的,任务状态就绪的任务
                 TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
                 if (ObjectUtil.isNull(taskdto)) {
+                    //补码生成堆垛机对接位到货架的指令
+                    if (StrUtil.isNotEmpty(hand_barcode)) {
+                        TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);
+                        if (Objects.nonNull(taskDtoHandCode)) {
+                            String taskid = taskDtoHandCode.getTask_id();
+                            String taskcode = taskDtoHandCode.getTask_code();
+                            String priority = taskDtoHandCode.getPriority();
+                            String start_point_code = taskDtoHandCode.getStart_point_code();
+                            String start_device_code = "";
+                            String route_plan_code = taskDtoHandCode.getRoute_plan_code();
+                            String next_device_code = taskDtoHandCode.getNext_device_code();
+                            String interactionJson = taskDtoHandCode.getInteraction_json();
+                            String containerType = "";
+                            if (StrUtil.isNotEmpty(interactionJson)) {
+                                InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
+                                containerType = interactionJsonDTO.getContainerType();
+                            }
+                            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(taskDtoHandCode.getStart_device_code(), next_device_code, route_plan_code);
+                            RouteLineDto routeLineDto = shortPathsList.get(0);
+                            String path = routeLineDto.getPath();
+                            String[] str = path.split("->");
+                            List<String> pathlist = Arrays.asList(str);
+                            int index = 0;
+                            for (int m = 0; m < pathlist.size(); m++) {
+                                if (pathlist.get(m).equals(next_device_code)) {
+                                    index = m - 2;
+                                    break;
+                                }
+                            }
+                            start_device_code = pathlist.get(index);
+                            //校验路由关系
+                            List<RouteLineDto> shortPathsList2 = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+                            if (ObjectUtils.isEmpty(shortPathsList2) || shortPathsList2.size() < 1) {
+                                throw new RuntimeException("路由不通!");
+                            }
+                            Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
+                            String next_point_code;
+                            if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
+                                next_point_code = taskDtoHandCode.getTo_x() + "-" + taskDtoHandCode.getTo_y() + "-" + taskDtoHandCode.getTo_z();
+                                Instruction instdto = new Instruction();
+                                packageData(instdto, route_plan_code, taskDtoHandCode, taskid, taskcode, start_device_code, next_device_code, start_point_code, next_point_code, priority, containerType);
+                                return updateTask(taskDtoHandCode, nextdevice, instdto);
+                            }
+                        } else {
+                            return false;
+                        }
+                    }
                     return false;
                 }
                 if (ObjectUtil.isNotNull(taskdto)) {
@@ -484,9 +528,12 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                     String start_device_code = taskdto.getStart_device_code();
                     String route_plan_code = taskdto.getRoute_plan_code();
                     String next_device_code = "";
+                    String containerType = "";
                     String interactionJson = taskdto.getInteraction_json();
-                    InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
+                    if (StrUtil.isNotEmpty(interactionJson)) {
-                    String containerType = interactionJsonDTO.getContainerType();
+                        InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
+                        containerType = interactionJsonDTO.getContainerType();
+                    }
                     /**
                      * 开始平均分配
                      */
@@ -525,7 +572,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                         next_point_code = next_device_code;
                     }
                     Instruction instdto = new Instruction();
-                    packageData(instdto, route_plan_code, taskdto, taskid, taskcode, start_device_code, next_device_code, start_point_code, next_point_code, priority,containerType);
+                    packageData(instdto, route_plan_code, taskdto, taskid, taskcode, start_device_code, next_device_code, start_point_code, next_point_code, priority, containerType);
                     log.error("=================================,{}", instdto.getCreate_by());
                     try {
                         instructionService.create(instdto);
@@ -534,21 +581,26 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                         log.error("指令创建失败!,{}", e.getMessage());
                         return false;
                     }
-                    taskdto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+                    return updateTask(taskdto, nextdevice, instdto);
-                    taskserver.update(taskdto);
-                    requireSucess = true;
-                    String next_addr = nextdevice.getExtraValue().get("address").toString();
-                    List list = new ArrayList();
-                    writeData(next_addr, list, instdto);
-//                    led_message = getLedMessage(instdto);
-                    requireSucess = true;
-                    return true;
                 }
+
             }
             return false;
         }
     }
 
+    private boolean updateTask(TaskDto taskdto, Device nextdevice, Instruction instdto) {
+        taskdto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+        taskserver.update(taskdto);
+        requireSucess = true;
+        String next_addr = nextdevice.getExtraValue().get("address").toString();
+        List list = new ArrayList();
+        writeData(next_addr, list, instdto);
+//                    led_message = getLedMessage(instdto);
+        requireSucess = true;
+        return true;
+    }
+
     private void writeData(String next_addr, List list, Instruction inst) {
         List list1 = new ArrayList();
         Map map = new HashMap();
@@ -576,7 +628,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         this.writing(list3);
     }
 
-    private static void packageData(Instruction instdto, String route_plan_code, TaskDto taskdto, String taskid, String taskcode, String start_device_code, String next_device_code, String start_point_code, String next_point_code, String priority,String containerType) {
+    private static void packageData(Instruction instdto, String route_plan_code, TaskDto taskdto, String taskid, String taskcode, String start_device_code, String next_device_code, String start_point_code, String next_point_code, String priority, String containerType) {
         instdto.setInstruction_id(IdUtil.simpleUUID());
         instdto.setRoute_plan_code(route_plan_code);
         instdto.setRemark(taskdto.getRemark());
@@ -676,7 +728,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             mode = LangProcess.msg("universal_standby");
         } else if (this.getMode() == 3) {
             mode = LangProcess.msg("universal_operation");
-        }else if (this.getMode() == 5) {
+        } else if (this.getMode() == 5) {
             mode = LangProcess.msg("one_mode3");
         }
 
@@ -685,7 +737,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         jo.put("message", LangProcess.msg(message));
         jo.put("error", this.getError());
         String move = "无货";
-        if(this.move == 1){
+        if (this.move == 1) {
             move = "有货";
         }
         jo.put("move", move);
@@ -694,6 +746,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         jo.put("is_click", true);
         jo.put("isOnline", this.getIsonline());
         jo.put("requireSucess", requireSucess);
+        jo.put("hand_barcode", hand_barcode);
         return jo;
     }
 
@@ -755,6 +808,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         } else if (StrUtil.equals(requestSucess, "1")) {
             this.requireSucess = true;
         }
+        String hand_barcode = data.getString("hand_barcode");
+        this.setHand_barcode(hand_barcode);
     }
 
     public static boolean arrayEquals(int[] a, int[] b) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java

@@ -389,6 +389,15 @@ public interface TaskService extends CommonService<Task> {
      */
     TaskDto findByStartCodeAndReady(String device_code);
 
+
+    /**
+     * 根据起载具号查询就绪任务
+     *
+     * @param device_code
+     * @return
+     */
+    TaskDto findByVehicleCodeCodeAndReady(String device_code);
+
     /**
      * 根据起点设备编号查询当前是否有执行中任务
      *

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -1076,6 +1076,15 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         return optionalTask.orElse(null);
     }
 
+    @Override
+    public TaskDto findByVehicleCodeCodeAndReady(String vehicleCode) {
+        Optional<TaskDto> optionalTask = tasks.stream()
+                .filter(task -> StrUtil.equals(task.getVehicle_code(), vehicleCode)
+                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex()))
+                .findFirst();
+        return optionalTask.orElse(null);
+    }
+
     @Override
     public TaskDto findByCodeAndExcute(String start_code, String next_code) {
         Task task = this.lambdaQuery()

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java

@@ -58,7 +58,7 @@ public class CreateDDJInst {
                 Device nextDevice = appService.findDeviceByCode(next_device_code);
                 //判断有无出入库任务是相同路线
                 TaskDto dto = taskserver.findByCodeAndExcute(next_device_code, start_device_code);
-                if (ObjectUtil.isNotEmpty(dto)){
+                if (ObjectUtil.isNotEmpty(dto)) {
                     return;
                 }
                 if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
@@ -90,21 +90,21 @@ public class CreateDDJInst {
                     StandardStackerDeviceDriver standardStackerDeviceDriver;
                     if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
                         standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver();
-                        if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getMove() == 1 || standardStackerDeviceDriver.getCommand() != 0) {
+//                        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());
+//                            log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code());
-                            return;
+//                            return;
-                        }
+//                        }
                     }
                     String next_device_code = taskDto.getNext_device_code();
                     Device nextDevice = appService.findDeviceByCode(next_device_code);
                     BeltConveyorDeviceDriver beltConveyorDeviceDriver;
-                    if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+//                    if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
-                        beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+//                        beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
-                        if (beltConveyorDeviceDriver.getMode() != 2 || beltConveyorDeviceDriver.getMove() == 1) {
+//                        if (beltConveyorDeviceDriver.getMode() != 2 || beltConveyorDeviceDriver.getMove() == 1) {
-                            log.error("输送机,{}未联机或执行中", next_device_code);
+//                            log.error("输送机,{}未联机或执行中", next_device_code);
-                            return;
+//                            return;
-                        }
+//                        }
-                    }
+//                    }
                     String taskid = taskDto.getTask_id();
                     String taskcode = taskDto.getTask_code();
                     String task_type = taskDto.getTask_type();
@@ -149,7 +149,7 @@ public class CreateDDJInst {
                         int index = 0;
                         for (int m = 0; m < pathlist1.size(); m++) {
                             String deviceType1 = appService.findDeviceByCode(pathlist1.get(m)).getDevice_type();
-                            if(deviceType1.equals(DeviceType.stacker.name())){
+                            if (deviceType1.equals(DeviceType.stacker.name())) {
                                 index = m + 1;
                                 break;
                             }
@@ -287,8 +287,8 @@ public class CreateDDJInst {
                         }
                         /*List<DeviceExtra> deviceExtras = deviceExtra.list(Wrappers.lambdaQuery(DeviceExtra.class).
                                 eq(DeviceExtra::getDevice_code, pathlist.get(1)).orderByDesc(DeviceExtra::getCreate_time));*/
-                        String count =  deviceByCode.getExtraValue().get("count").toString();
+                        String count = deviceByCode.getExtraValue().get("count").toString();
-                        if (StrUtil.isNotEmpty(count) ) {
+                        if (StrUtil.isNotEmpty(count)) {
                             if (max <= Integer.parseInt(count)) {
                                 instdto.setInstruction_type(task_type);
                                 instdto.setInstruction_id(IdUtil.simpleUUID());