fix: 扫描补码、仙宫货叉调整

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

@@ -4,6 +4,7 @@ import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONObject;
 import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.instruction.domain.Instruction;
+import org.nl.acs.instruction.service.dto.InteractionJsonDTO;
 
 import java.util.Map;
 
@@ -117,8 +118,10 @@ public interface XianGongAgvService {
 
     /**
      * 下发叉车运单
+     *
      * @param dto
+     * @param interactionJsonDTO
      * @return
      */
-    HttpResponse sendOrderSequencesToForklift(Instruction dto);
+    HttpResponse sendOrderSequencesToForklift(Instruction dto, InteractionJsonDTO interactionJsonDTO);
 }

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

@@ -14,13 +14,13 @@ import org.nl.acs.agv.AgvUtil;
 import org.nl.acs.agv.AgvWaitUtil;
 import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
-import org.nl.acs.angle.domain.AcsPointAngle;
 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.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.InteractionJsonDTO;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.device.enums.DeviceType;
 import org.nl.common.exception.BadRequestException;
@@ -32,7 +32,6 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
-import java.math.BigDecimal;
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
@@ -756,13 +755,13 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
     @Override
-    public HttpResponse sendOrderSequencesToForklift(Instruction inst) {
+    public HttpResponse sendOrderSequencesToForklift(Instruction inst, InteractionJsonDTO interactionJsonDTO) {
         com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
         jo.put("id", inst.getInstruction_code());
         //运单封口,true=创建运单之后不可添加动作块;false=创建运单可以添加动作块
         jo.put("complete", true);
         //动作块
-        jo.put("blocks", createBlocksForklift(inst));
+        jo.put("blocks", createBlocksForklift(inst,interactionJsonDTO));
         //运单优先级
         jo.put("priority", inst.getPriority());
         LuceneLogDto logDto = LuceneLogDto.builder()
@@ -804,13 +803,17 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
      * 叉车运单动作块
      *
      * @param inst
+     * @param interactionJsonDTO
      * @return
      */
-    private JSONArray createBlocksForklift(Instruction inst) {
+    private JSONArray createBlocksForklift(Instruction inst, InteractionJsonDTO interactionJsonDTO) {
         JSONArray ja = new JSONArray();
         //起点
         Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
         String pointCode = inst.getStart_point_code();
+
+
+
         //取货前等待
         JSONObject jo = new JSONObject();
         //动作块id
@@ -842,6 +845,42 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         jo1.put("binTask", "InForkHeight");
         ja.add(jo1);
 
+        JSONObject jo3 = new JSONObject();
+        //动作块id
+        jo3.put("blockId", IdUtil.simpleUUID());
+        //目的地名称
+        jo3.put("location", pointCode + "INGET");
+        jo3.put("id", pointCode + "INGET");
+        //执行脚本
+        jo3.put("operation", "expand");
+        //通信脚本,动作前后与现场设备交互的场景
+        jo3.put("script_name", "Fork-expand.py");
+        JSONObject script_args2 = new JSONObject();
+        if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
+            script_args2.put("expandWidth",interactionJsonDTO.getExpandWidthLength());
+        }
+        script_args2.put("operation", "expand");
+        jo3.put("script_args", script_args2);
+        ja.add(jo3);
+
+        JSONObject jo4 = new JSONObject();
+        //动作块id
+        jo4.put("blockId", IdUtil.simpleUUID());
+        //目的地名称
+        jo4.put("location", pointCode + "INGET");
+        jo4.put("id", pointCode + "INGET");
+        //执行脚本
+        jo4.put("operation", "stretch");
+        //通信脚本,动作前后与现场设备交互的场景
+        jo4.put("script_name", "Fork-expand.py");
+        JSONObject script_args1 = new JSONObject();
+        if (ObjectUtil.isNotEmpty(interactionJsonDTO.getExpandWidthLength())) {
+            script_args2.put("stretchLength",interactionJsonDTO.getExpandWidthLength());
+        }
+        script_args1.put("operation", "stretch");
+        jo4.put("script_args", script_args1);
+        ja.add(jo4);
+
         JSONObject jo6 = new JSONObject();
         jo6.put("blockId", IdUtil.simpleUUID());
         jo6.put("location", inst.getStart_point_code());
@@ -861,16 +900,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         jo2.put("operation", "script");
         jo2.put("id", pointCode + "OUTGET");
         jo2.put("script_name", "userpy/interact.py");
-        JSONObject script_args2 = new JSONObject();
+        JSONObject script_args4 = new JSONObject();
-        script_args2.put("addr", addr);
+        script_args4.put("addr", addr);
         JSONObject data2 = new JSONObject();
         JSONObject reach2 = new JSONObject();
         reach2.put("task_code", inst.getInstruction_code());
         reach2.put("address", pointCode + "OUTGET");
         data2.put("reach", reach2);
-        script_args2.put("data", data2);
+        script_args4.put("data", data2);
-        script_args2.put("protocol", "HTTP");
+        script_args4.put("protocol", "HTTP");
-        jo2.put("script_args", script_args2);
+        jo2.put("script_args", script_args4);
         ja.add(jo2);
 
 

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

@@ -127,8 +127,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     int last_container_type = 0;
 
 
-
-
     //行架任务号
     int hj_task = 0;
     int last_hj_task = 0;
@@ -243,7 +241,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             }
 
 
-
             if (move != last_move && move == 0 && last_move == 1) {
                 requireSucess = false;
                 clearWrite();
@@ -399,8 +396,18 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             try {
                 JSONObject param = new JSONObject();
                 param.put("device_code", device_code);
+                if (StrUtil.isNotEmpty(hand_barcode)) {
+                    param.put("vehicle_code", hand_barcode);
+                }
+                if (StrUtil.isNotEmpty(barcode)) {
                     param.put("vehicle_code", barcode);
+                }
+                if (StrUtil.isNotEmpty(material_barcode)) {
                     param.put("material_barcode", material_barcode);
+                }
+                if (StrUtil.isNotEmpty(hand_material_barcode)) {
+                    param.put("material_barcode", hand_material_barcode);
+                }
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
                         .content("申请高度等级,参数:" + param)
@@ -454,8 +461,18 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             try {
                 JSONObject param = new JSONObject();
                 param.put("device_code", device_code);
+                if (StrUtil.isNotEmpty(hand_barcode)) {
+                    param.put("vehicle_code", hand_barcode);
+                }
+                if (StrUtil.isNotEmpty(barcode)) {
                     param.put("vehicle_code", barcode);
+                }
+                if (StrUtil.isNotEmpty(material_barcode)) {
                     param.put("material_barcode", material_barcode);
+                }
+                if (StrUtil.isNotEmpty(hand_material_barcode)) {
+                    param.put("material_barcode", hand_material_barcode);
+                }
                 param.put("type", type);
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
@@ -558,7 +575,12 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 JSONObject param = new JSONObject();
                 param.put("device_code", device_code);
                 param.put("container_type", container_type);
+                if (StrUtil.isNotEmpty(hand_barcode)) {
+                    param.put("vehicle_code", hand_barcode);
+                }
+                if (StrUtil.isNotEmpty(barcode)) {
                     param.put("vehicle_code", barcode);
+                }
                 param.put("type", type);
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
@@ -607,8 +629,18 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             try {
                 JSONObject param = new JSONObject();
                 param.put("device_code", device_code);
+                if (StrUtil.isNotEmpty(hand_barcode)) {
+                    param.put("vehicle_code", hand_barcode);
+                }
+                if (StrUtil.isNotEmpty(barcode)) {
                     param.put("vehicle_code", barcode);
+                }
+                if (StrUtil.isNotEmpty(material_barcode)) {
                     param.put("material_barcode", material_barcode);
+                }
+                if (StrUtil.isNotEmpty(hand_material_barcode)) {
+                    param.put("material_barcode", hand_material_barcode);
+                }
                 param.put("type", type);
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
@@ -640,8 +672,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     logDto2.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto2);
                 }
-                }
+            } catch (Exception e) {
-             catch (Exception e) {
                 e.printStackTrace();
             }
         }
@@ -919,6 +950,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
         }
 
     }
+
     public synchronized boolean finish_instruction() throws Exception {
         instructionService.finish(inst);
         return true;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java

@@ -368,9 +368,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             message = "one_message7";
         } else {
             if (error != 0) {
+                Date date = new Date();
+                if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+                    log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+                } else {
                     //满入空出或者浅货位阻挡
                     erroBlock();
                 }
+            }
             List list = new ArrayList();
             switch (command) {
                 case 0:
@@ -521,6 +526,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             }
 
         }
+
         last_heartbeat = heartbeat;
         last_item_deviceCode = item_deviceCode;
         last_mode = mode;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/dto/InteractionJsonDTO.java

@@ -0,0 +1,13 @@
+package org.nl.acs.instruction.service.dto;
+
+import lombok.Data;
+
+@Data
+public class InteractionJsonDTO {
+
+    /**
+     * agv叉车调整长宽
+     */
+    private Double expandWidthLength;
+
+}

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

@@ -42,6 +42,7 @@ import org.nl.acs.instruction.domain.InstructionMybatis;
 import org.nl.acs.instruction.enums.InstructionStatusEnum;
 import org.nl.acs.instruction.service.dto.InstructionDto;
 import org.nl.acs.instruction.service.dto.InstructionQueryParam;
+import org.nl.acs.instruction.service.dto.InteractionJsonDTO;
 import org.nl.acs.limit_regional.server.LimitRegionalService;
 import org.nl.acs.limit_regional.server.dto.LimitRegionalDto;
 import org.nl.acs.opc.DeviceAppService;
@@ -514,8 +515,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 //
 //                } else
                 if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
+                    String interactionJson = task.getInteraction_json();
+                    if (StrUtil.isNotEmpty(interactionJson)){
+                        throw  new BadRequestException("agv叉车调整长宽参数为空");
+                    }
+                    InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
                     //仙工叉车
-                    HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto);
+                    HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto,interactionJsonDTO);
                     if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
                         dto.setSend_status("2");
                     } else {

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

@@ -28,6 +28,8 @@ import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.dto.DeviceAssignedDto;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.device_driver.DeviceDriverDefination;
+import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.device_driver.storage.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.domain.InstructionMybatis;
@@ -906,6 +908,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             List<RouteLineDto> shortPathsList =
                     routeLineService.getShortPathLines(
                             start_device_code, acsTask.getNext_device_code(), route_plan_code);
+            Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
             RouteLineDto routeLineDto = shortPathsList.get(0);
             String path = routeLineDto.getPath();
             String type = routeLineDto.getType();
@@ -914,7 +917,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             int index = 0;
             for (int m = 0; m < pathlist.size(); m++) {
                 if (pathlist.get(m).equals(start_device_code)) {
+                    //起点为货架跳过堆垛机
+                    if (startDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                        index = m + 2;
+                    }else {
                         index = m + 1;
+                    }
                     break;
                 }
             }

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

@@ -59,7 +59,7 @@ public class CreateDDJInst {
                 //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)) {
-                    return;
+                    continue;
                 }
                 if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
                         (nextDevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextDevice.getDevice_type().equals(DeviceType.storage.name()))) {
@@ -115,7 +115,7 @@ public class CreateDDJInst {
                         deviceByCode = appService.findDeviceByCode(pathlist.get(1));
                         if (ObjectUtils.isEmpty(deviceByCode)) {
                             log.error("没有找到DDJ设备");
-                            return;
+                            continue;
                         }
                         StandardStackerDeviceDriver standardStackerDeviceDriver;
                         if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
@@ -123,7 +123,7 @@ public class CreateDDJInst {
                             if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getForkCargo() == 1 || standardStackerDeviceDriver.getCommand() != 0) {
                                 log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code());
                                 ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中");
-                                return;
+                                continue;
                             }
                         }
                         next_device_code = start_device_code;
@@ -142,7 +142,7 @@ public class CreateDDJInst {
 
                         if (ObjectUtils.isEmpty(deviceByCode)) {
                             log.error("没有找到DDJ设备");
-                            return;
+                            continue;
                         }
                         StandardStackerDeviceDriver standardStackerDeviceDriver;
                         if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
@@ -150,7 +150,7 @@ public class CreateDDJInst {
                             if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getForkCargo() == 1 || standardStackerDeviceDriver.getCommand() != 0 || standardStackerDeviceDriver.getError() != 0) {
                                 log.error("堆垛机,{}未联机或者在执行中或者有异常", deviceByCode.getDevice_code());
                                 ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中");
-                                return;
+                                continue;
                             }
                         }
 
@@ -205,7 +205,7 @@ public class CreateDDJInst {
                         if (beltConveyorDeviceDriver.getMode() != 2 || beltConveyorDeviceDriver.getMove() == 1) {
                             log.error("输送机,{}未联机或执行中", next_device_code);
                             ((BeltConveyorDeviceDriver) nextDevice.getDeviceDriver()).setNotCreateInstMessage("one_message7");
-                            return;
+                            continue;
                         }
                     }
 
@@ -219,7 +219,7 @@ public class CreateDDJInst {
                         List<Instruction> byCodeAndExcute = instructionService.findByCodeAndExcute(next_device_code);
                         if (CollUtil.isNotEmpty(byCodeAndExcute)){
                             ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("有DDJ对接位出入库的指令");
-                            return;
+                            continue;
                         }
                         instdto.setInstruction_type(task_type);
                         instdto.setInstruction_id(IdUtil.simpleUUID());