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fix: 堆垛机对接位通过补码生成到货架的任务

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This commit is contained in:
LENOVO
2024-04-18 15:02:28 +08:00
parent 8fd37373e4
commit 77cbfe46f5
4 changed files with 119 additions and 46 deletions
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75
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
View File

@@ -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
*/
@@ -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();
if (StrUtil.isNotEmpty(interactionJson)) {
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
String containerType = interactionJsonDTO.getContainerType();
containerType = interactionJsonDTO.getContainerType();
}
/**
* 开始平均分配
*/
@@ -534,6 +581,15 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
log.error("指令创建失败!,{}", e.getMessage());
return false;
}
return updateTask(taskdto, nextdevice, instdto);
}
}
return false;
}
}
private boolean updateTask(TaskDto taskdto, Device nextdevice, Instruction instdto) {
taskdto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskserver.update(taskdto);
requireSucess = true;
@@ -544,10 +600,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
requireSucess = true;
return true;
}
}
return false;
}
}
private void writeData(String next_addr, List list, Instruction inst) {
List list1 = new ArrayList();
@@ -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) {

9
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -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
*

9
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -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()

22
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
View File

@@ -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) {
log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code());
return;
}
// 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;
}
}
// 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();